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The tutorial seem to be wrong in several aspects.

If your package does not contain message/service files you should not invoke that function.

But when you use messages/services from other packages at compile time (e.g. including generated message headers) your targets (executables as well as libraries) should have an explicit dependency on the target which generates the code. catkin supports you in identifying which targets generate code so that you can add a dependency on all exported target from packages which you have find_package() before:

add_dependencies(exe_or_lib_target ${catkin_EXPORTED_TARGETS})